ros2_medkit documentation

Modern, SOVD-compatible diagnostics for ROS 2 robots.

ros2_medkit provides a REST API gateway that exposes your ROS 2 system for external tools, web interfaces, and remote diagnostics. It automatically discovers nodes, organizes them into a hierarchical entity tree, and provides endpoints for data access, operations, configurations, and fault management.

Quick Reference

Common commands for quick access:

# Check gateway health
curl http://localhost:8080/api/v1/health

# List all areas
curl http://localhost:8080/api/v1/areas

# List all components
curl http://localhost:8080/api/v1/components

# List all apps
curl http://localhost:8080/api/v1/apps

# List all functions
curl http://localhost:8080/api/v1/functions

# Get data from an entity (area, component, app, or function)
curl http://localhost:8080/api/v1/{entity-type}/{entity-id}/data

# List operations for  an entity (area, component, app, or function)
curl http://localhost:8080/api/v1/{entity-type}/{entity-id}/operations

# Get configurations (parameters)
curl http://localhost:8080/api/v1/{entity-type}/{entity-id}/configurations

# List faults
curl http://localhost:8080/api/v1/faults

Community

User Guide

Architecture

Configuration

API Reference

Standard Compliance

Reference